From 2b1288bcd481a1550f2c4ffd6eb339787ddb1d63 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Tue, 20 Nov 2018 19:13:41 +0800
Subject: [PATCH] Fix imu range bug

---
 doc/zh-Hans/spec_control_api.md | 10 +++++-----
 include/mynteye/types.h         | 10 +++++-----
 src/internal/channels.cc        |  2 +-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/doc/zh-Hans/spec_control_api.md b/doc/zh-Hans/spec_control_api.md
index ac45089..5f3469f 100644
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -19,8 +19,8 @@
 | 最大曝光时间 | max_exposure_time | 2 | 333 | 0 | 1000 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
 | 期望亮度 | desired_brightness | 2 | 122 | 1 | 255 | √ | 0x19 | XU_CAM_CTRL | 0x0100 | |
 | 擦除芯片 | erase_chip | | - | - | - | × | - | XU_HALF_DUPLEX | 0x0200 | |
-| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | ?? | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
-| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
-| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
-| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | ?? | XU_CAM_CTRL | 0x0100 | |
+| 最小曝光时间 | min_exposure_time | 2 | 0 | 0 | 1000 | √ | - | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
+| 加速度计量程 | accelerometer_range | 2 | 12 | 6 | 48 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪量程 | gyroscope_range | 2 | 1000 | 250 | 4000 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 加速度计低通滤波 | accelerometer_low_pass_filter | 2 | 2 | 0 | 2 | √ | - | XU_CAM_CTRL | 0x0100 | |
+| 陀螺仪低通滤波 | gyroscope__low_pass_filter | 2 | 64 | 23 | 64 | √ | - | XU_CAM_CTRL | 0x0100 | |
diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 66fcd33..c85a45a 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -200,31 +200,31 @@ enum class Option : std::uint8_t {
   /**
    * min exposure time, valid if auto-exposure
    *
-   *   range: [0,?], default: ?
+   *   range: [0,1000], default: 0
    */
   MIN_EXPOSURE_TIME,
   /**
    * The range of accelerometer
    *
-   *   values: {?}, default: ?
+   *   values: {6,12,24,48}, default: 6
    */
   ACCELEROMETER_RANGE,
   /**
    * The range of gyroscope
    *
-   *   values: {?}, default: ?
+   *   values: {250,500,1000,2000,4000}, default: 1000
    */
   GYROSCOPE_RANGE,
   /**
    * The parameter of accelerometer low pass filter
    *
-   *   values: {?}, default: ?
+   *   values: {0,1,2}, default: 2
    */
   ACCELEROMETER_LOW_PASS_FILTER,
   /**
    * The parameter of gyroscope low pass filter
    *
-   *   values: {?}, default: ?
+   *   values: {23,64}, default: 64
    */
   GYROSCOPE_LOW_PASS_FILTER,
   /** Last guard */
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 9f82b9e..c671b29 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -262,7 +262,7 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
       XuCamCtrlSet(option, value);
     } break;
     case Option::GYROSCOPE_RANGE: {
-      if (!in_range() || !in_values({6, 12, 24, 48}))
+      if (!in_range() || !in_values({250, 500, 1000, 2000, 4000}))
         break;
       XuCamCtrlSet(option, value);
     } break;